DMC_MoveLinearRelative ................................................................... 11-350 DMC_MoveCircularAbsolute ................................................................ 11-363 DMC_MoveCircularRelative ................................................................. 11-374 DMC_GroupSetOverride ..................................................................... 11-385 DMC_GroupReadActualPosition ........................................................... 11-390 11.8 Coordination Instructions .................................................................... 11-392 DMC_ControlAxisByPos ......................................................................
11-392 DMC_NC .......................................................................................... 11-397 Chapter12 Troubleshooting 12.1 Explanation of LED Indicators .................................................................. 12-2 12.2 Table of Error IDs in Motion Instructions ................................................. 12-8 12.3 System Trouble Diagnosis through System Error Codes ......................... 12-12 Appendix A Modbus Communication A.1 Message Format in ASCII Mode .................................................................. A-2 A.2 Message Format in RTU Mode ....................................................................
A-5 A.3 Modbus Function Codes Supported ............................................................ A-7 A.4 Modbus Exception Response Code Supported ............................................ A-7 A.5 Introduction to Modbus Function Codes ..................................................... A-8 Appendix B Modbus TCP Communication A.6 Table of Registers and Corresponding Modbus addresses ........................ A-15 B.1 Modbus TCP Message Structure ................................................................. B-2 B.2 Modbus Function Codes Supported in Modbus TCP .....................................
B-2 B.3 Exception Response Code in Modbus TCP ................................................... B-3 B.4 Modbus Function Codes in Modbus TCP ...................................................... B-3 Appendix C CANopen Protocol B.5 Registers and Corresponding Modbus Addresses ..................................... B-12 C.1 Node States................................................................................................ C-4 xii